Indoor positioning method, system and device, storage medium and computer program product

Abstract

The invention belongs to the technical field of target position data measurement, and discloses an indoor positioning method, an indoor positioning system, an indoor positioning device, a storage medium and a computer program product. A plurality of base stations and a plurality of terminals are used, distances between the plurality of indoor terminals and the plurality of fixed base stations arecalculated through distance measurement between the plurality of base stations and the plurality of indoor terminals by adopting a space rectangular coordinate system. The distances between the plurality of terminals and the plurality of base stations are positioned, direction finding between the plurality of base stations and the plurality of indoor terminals are carried out, and angles between the plurality of indoor terminals and the plurality of base stations are calculated by adopting a polar coordinate system. The position information is obtained by calculating orientation information ofthe indoor terminals in a coverage range of one base station. A numerical value is obtained by applying a distance measurement method and a direction finding method. The accurate positioning information of each indoor terminal is obtained through mutual correction by using the distance and the orientation information obtained by the plurality of indoor terminals. According to the indoor positioning method, the indoor positioning system and the indoor positioning device, the distances among the plurality of indoor terminals are accurately measured, and precise positioning of the indoor terminals can be realized.

Description

technical field [0001] The invention belongs to the technical field of measuring target position data, and in particular relates to an indoor positioning method, system, device, storage medium, and computer program product. Background technique [0002] At present, the closest existing technology: In indoor scenes, people hope to obtain accurate indoor positions, but due to severe signal attenuation and multipath effects, it is difficult to obtain accurate indoor positioning positions. In order to solve indoor positioning, most of them use WiFi, Bluetooth, RFID, UWB positioning based on wireless signal transmitting equipment, indoor positioning based on inertial navigation (IMU, MEMS), computer vision positioning based on pictures (video), and positioning based on geomagnetism. and other methods, but there are defects in the above-mentioned methods. [0003] The highest accuracy of WiFi positioning is about 1 meter to 20 meters. If the positioning calculation is only based...

AI Technical Summary

Problems solved by technology

If the positioning calculation is only based on the currently connected Wi-Fi access point, instead of referring to the signal strength composite map of the surrounding Wi-Fi, Wi-Fi positioning is prone to errors (for example: positioning floor error)

Wi-Fi access points usually only cover an area with a radius of about 90 meters, and are susceptible to interference from other signals, which affects its accuracy, and the energy consumption of the locator is also high

In short, the positioning accuracy is low, the coverage area is small, and the energy consumption of the positioning terminal is high

Bluetooth positioning is mainly used for small-scale positioning. For complex space environments, the stability of the Bluetooth positioning system is slightly poor, and it is greatly disturbed by noise signals.

RFID is not easy to integrate into mobile devices, and the working distance is short, generally the longest distance is 30-60 meters

The positioning accuracy of UWB technology is about 30CM, which is greatly improved compared with other positioning methods, but its positioning method only uses TDOA, which requires positioning tags, and the spectrum utilization rate is low and the transmission data rate is low.

[0004] To sum up, the problems existing in the prior art are: the current indoor positioning devices have poor indoor positioning accuracy and low ranging accuracy

Moreover, the current indoor positioning products are mainly based on UWB technology, but UWB has high technical costs, relies on dedicated frequency bands, has poor anti-occlusion ability, low reliability, and strong dependence on clock sources. It is suitable for ranging, and calculation accuracy during positioning is not easy. Control, can not eliminate the shortcomings of multipath error, poor dynamic performance, etc., the present invention combines ranging and direction finding, multi-antenna, OFDM multipath estimation, inertial navigation module motion compensation and other technologies to form a set of high positioning reliability, suitable for dynamic Indoor high-precision positioning solution with low technical cost

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